The second type of object hiding attacks is when adversarial operations are performed on the sensing modality itself. In [1]}, the authors proposed using the LiDAR spoofing approach (Object Removal Attack, ORA-Random) to inject random points in the target's object bounding box to displace points in the original object's point cloud, causing mis-detection of the target object. They showed that ORA was effective in damaging the performance of object detectors for front-near objects and works well for both large objects such as cars and small objects such as pedestrians and cyclists.
